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We describe the development and assessment of a computer controlled wheelchair called the SMARTCHAIR. A shared control framework with different levels of autonomy allows the human operator to stay in complete control of the chair at each level while ensuring her safety. The framework incorporates deliberative motion plans or controllers, reactive behaviors,(More)
Nearly five million individuals in the US have limited arm and hand movement, making it difficult or impossible for them to use computers and products with embedded computers, such as wheelchairs, household appliances, office electronic equipment, and robotic aids. Although some current wheelchair systems have embedded computers, they have very little(More)
We describe the development and assessment of a computer controlled wheelchair equipped with a suite of sensors and a novel interface, called the SMARTCHAIR. The main focus of this paper is a shared control framework which allows the human operator to interact with the chair while it is performing an autonomous task. At the highest level, the autonomous(More)
This paper presents the development of two outdoor intelligent vehicles platforms named CaRINA I and CaRINA II, their system architecture, simulation tools, and control modules. It also describes the development of the intelligent control system modules allowing the mobile robots and vehicles to navigate autonomously in controlled urban environments.(More)
The development of autonomous vehicles is a highly relevant research topic in mobile robotics. Road recognition using visual information is an important capability for autonomous navigation in urban environments. Over the last three decades, a large number of visual road recognition approaches have been appeared in the literature. This paper proposes a(More)
Robust and stable control is a requirement for navigation of self-driving cars. Some approaches in the literature depend on a high number of parameters that are often difficult to estimate. A poor selection of these parameters often reduces considerably the efficiency of the control algorithms. In this paper we propose a simplified control system for(More)
In this paper we use a recursive robust regulator for discrete time Markovian jump linear systems to control a group of wheeled mobile robots in formation. The formation has a direct communication topology and a leader. The robustness is checked with a communication fault in blind areas and, if the fault affects the leader, this robot leader is changed and(More)
This paper analyses the application of LQR (Linear Quadratic Regulator) and H-infinity controllers on a free-floating space manipulator with two arms. Given the particularities present in this kind of manipulator, its modelling was made through the Dynamically Equivalent Manipulator (DEM) method in order to allow these control techniques to be applied. The(More)